Vehicle-To-Vehicle Communication System

ABSTRACT

A method and system includes a first vehicle radio generating a first communication signal for a second vehicle radio and communicating the first communication signal through the first radio system of a first vehicle. The first vehicle radio communicating the first signal though a cellular system to the second vehicle radio when a response signal is not received from the second vehicle radio.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Ser. No. 16/217,418, filedDec. 12, 2018, which claims priority to U.S. Ser. No. 62/608,885, filedDec. 21, 2017. The entire disclosures of each of the above applicationsare incorporated herein by reference.

FIELD

The present disclosure relates to a radio to radio communication and,more particularly, to a method and system for providing a vehicle tovehicle radio as alternate communication means.

BACKGROUND

This section provides background information related to the presentdisclosure which is not necessarily prior art.

Recreational vehicles such as snowmobiles, four-wheelers, all-terrainvehicles, motorcycles and the like are used in various places undervarious conditions. Many places where such vehicles are used do not haveaccess to or have limited access to cell service.

It is desirable for recreational vehicles to intercommunicate varioustypes of data therebetween. For example, systems are available thatallow two-way communications between various vehicles. Such systemsoften include the use of cell towers for intercommunication. However, asmentioned above, cellular communication is not available under manycircumstances.

Communication using satellites is also possible. However, satellitecommunications require a clear view of the sky. Satellite communicationsin geographic regions that are thickly forested may be encumbered bytrees. Also, traversing canyons can also provide difficulty ininter-vehicle communication using satellites.

Communicating directly between vehicles is often difficult. In a populararea, many vehicles may be trying to communicate. The vehicle radios mayinterfere with each other and thus communications may be difficult.

SUMMARY

This section provides a general summary of the disclosures, and is not acomprehensive disclosure of its full scope or all of its features.

The present disclosure provides a vehicle-to-vehicle communicationsystem that increases the likelihood of unencumbered communicationsdirectly between vehicles. A protocol is established to allow thevehicles to intercommunicate.

In one aspect of the disclosure, a method comprises generating a firstcommunication signal at a first vehicle radio for a second vehicleradio, communicating the first communication signal through a vehicle tovehicle radio system of the first vehicle, when a response signal is notreceived from the second vehicle radio, communicating the first signalthough a cellular system to the second vehicle radio.

In yet another aspect of the disclosure, a system includes a firstvehicle radio generating a first communication signal for a secondvehicle radio and communicating the first communication signal throughthe first radio system of a first vehicle. The first vehicle radiocommunicating the first signal though a cellular system to the secondvehicle radio when a response signal is not received from the secondvehicle radio.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described herein are for illustrative purposes only ofselected embodiments and not all possible implementations, and are notintended to limit the scope of the present disclosure.

FIG. 1 is a diagrammatic view of the system according to the presentdisclosure.

FIG. 2 is a diagrammatic view of the use of a drone for relaying databetween various vehicles.

FIG. 3 is a diagrammatic view of a third vehicle entering a group of twovehicles and a master vehicle.

FIG. 4A is a diagrammatic view of a screen display.

FIG. 4B is a diagrammatic view of a screen display for enteringmessages.

FIG. 5 is block diagrammatic view of a radio according to the presentdisclosure.

FIG. 6 is a detailed block diagrammatic view of a radio module accordingto the present disclosure.

FIG. 7 is a block diagram of the firmware architecture of the radiomodule 576.

FIG. 8 is a block diagrammatic view of the control module 510.

FIG. 9 is a diagrammatic representation of an RF message.

FIG. 10 is a chart of long range and short range data.

FIG. 11 is a diagrammatic view of an RF frame having timeslots.

FIG. 12 is a chart of the maximum nodes allowed versus timeslotdistribution.

FIG. 13A is a diagrammatic representation of a timeslot.

FIG. 13B illustrates the channel hopping frequencies relative to a timeframe.

FIG. 14 is a diagrammatic view of the operation of the radio node.

FIG. 15 is a diagrammatic view of a slow pipe message.

FIG. 16A is a diagrammatic view of a fast pipe having a plurality ofslices therein.

FIG. 16B is a diagrammatic view of a single slice.

FIG. 17A is a diagrammatic view of a beacon message.

FIG. 17B is a diagrammatic view of the beacon message in the transmitform.

FIG. 17C is a diagrammatic view of a receive beacon message.

FIG. 18A is a diagrammatic representation of a packet communicatedthrough the system.

FIG. 18B is a view of a group size and group identifier parameter.

FIG. 18C is a diagrammatic view of the latitude and longitude packets.

FIG. 18D is a diagrammatic view of an elevation packet.

FIG. 18E is a diagrammatic view of a sequence and identifier message.

FIG. 18F is a diagrammatic view of vehicle information.

FIG. 18G is a diagrammatic view of a fast and slow pipe configurationdata.

FIG. 18H is a diagrammatic view of a group occupation.

FIG. 18I is a diagrammatic representation of an acknowledge message.

FIG. 19A is a diagrammatic view of a beacon packet.

FIG. 19B is a diagrammatic view of a fast node packet.

FIG. 19C is a diagrammatic view of a slow node packet.

FIG. 20 is a table of timeslot usage versus a number of nodes.

FIG. 21A is a table of transmitting events per frame.

FIG. 21B is a table of transmitting events in two RF frames.

FIG. 22 is a flowchart of a method for establishing and communicatingduring various timeframes.

FIG. 23 is a flowchart of a method for transmitting data during the timejoining a group.

FIG. 24 is a flowchart of a method for forming a group from theperspective of the master radio.

FIG. 25 is a flowchart of a method for entering a group automaticallywhen a vehicle is close.

FIG. 26 is a flowchart of a method for operating an emergency vehiclecommunication system.

FIG. 27 is a method for communicating using a satellite communicationsystem as a primary system with cellular and/or two-way radiocommunication as backup.

FIG. 28 is a flowchart of a method for communicating with a secondvehicle radio.

FIG. 29 is a flowchart of a method for using a cellular system and/or asatellite system as a backup to a vehicle-to-vehicle communicationsystem.

FIG. 30 is a flowchart of a method for preventing processing ofredundant data.

FIG. 31A is a diagrammatic view of a group of clustered nodes.

FIG. 31B is a relay table corresponding to the group of FIG. 31A.

FIG. 32A is a diagrammatic view of a group of clustered nodes.

FIG. 32B is a relay table corresponding to the group of FIG. 32A.

FIG. 33A is a diagrammatic view of a group of clustered nodes.

FIG. 33B is a relay table corresponding to the group of FIG. 33A.

FIG. 34A is a diagrammatic view of a group of clustered nodes.

FIG. 34B is a relay table corresponding to the group of FIG. 34A.

FIG. 35A is a diagrammatic view of a group of clustered nodes.

FIG. 35B is a relay table corresponding to the group of FIG. 35A.

FIG. 36A is a diagrammatic view of a group of clustered nodes.

FIG. 36B is a relay table corresponding to the group of FIG. 36A.

FIG. 37 is a flowchart for changing the relay list.

Corresponding reference numerals indicate corresponding parts throughoutthe several views of the drawings.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference tothe accompanying drawings. Although the following description includesseveral examples of a radio, it is understood that the features hereinmay be applied to any appropriate radio, such as snowmobiles,motorcycles, all-terrain radios, utility radios, moped, scooters, etc.The examples disclosed below are not intended to be exhaustive or tolimit the disclosure to the precise forms disclosed in the followingdetailed description, Rather, the examples are chosen and described sothat others skilled in the art may utilize their teachings.

Referring now to FIG. 1, a communication system 10 is illustrated forcommunicating between vehicles. In this example, a master vehicle 12, afirst vehicle 14, a second vehicle 16 and a third vehicle 18 areillustrated in a group 20. The group 20 may be formed according to theteachings set forth below. The master vehicle 12 may be the leader ofthe group that controls the formation of the group. Although in someexamples, vehicles in the group may not have a master or group leader.As will be further described below, the master vehicle 12 may form thegroup and, if the master vehicle 12 leaves the group, the group maycontinue to be maintained between the various other vehicles 14-18.Depending on design consideration no further group members may beallowed to join. However, in some examples other group members may joinafter a master leaves the group. Another vehicle may also be assigned tothe master radio position such as the radio in the first timeslot. Onceassigned as the master the first radio may generate the beacons. Inother examples, all vehicles within a group may generate beacons.

The vehicles 12-18 may communicate using various types of communicationsystems. One example of a communication system is a terrestrialcommunication system such as a cellular communication system 30. Thecellular communication system 30 may include a plurality of cell towers,one cell tower 32 is illustrated for simplicity. The cell tower 32 mayinclude an antenna 34 disposed thereon. The antenna 34 may be incommunication with the antennas 36 disposed on the vehicles 12-18.

Another example of a communication system is an extraterrestrialcommunication such as a satellite 40. The satellite 40 may be a singlesatellite such as a geostationary satellite or a constellation ofsatellites such as low earth orbit satellites or middle earth orbitsatellites. The satellite 40 includes a receiving antenna 42 and atransmitting antenna 44. A bent pipe transponder 46 may be used forrelaying communication signals between one of the vehicles 12-18 and asatellite control system 52. That is, the vehicles may generate uplinks48 which are communicated to the receiving antenna 42. The satelliteantenna 44 may also generate a downlink 50 to the vehicles 12-18.

The satellite control system 52 may control the telemetry, tracking andcontrol of the satellite 40 through the antenna 53. The satellitecontrol system 52 may also control the communication signals that arecommunicated to and from the satellite 40.

A communication control system 60 may be used to control thecommunications between the vehicles 12-18 and the satellite controlsystem 52 or the cell communication system 30 when such systems areused. Such signals may include emergency type signals which may bedispatched from the control system 60 to an emergency response center62. An antenna 61 may be used for wireless communication from thecommunication control system 60.

A user access system 64 may be in communication with a communicationcontrol system 60. The user access system 64 may allow external users 66such as non-vehicle operators to communicate with the vehicle systems ormonitor the data associated with the various vehicles 12-18 such astheir positions.

The position of the vehicles 12-18 may be determined using GPSsatellites 70. The signals generated by the GPS satellites 70 may beused by the vehicles 12-18 to determine a position of the vehicle.Determine a vehicle position may include the latitude and longitude ofthe vehicle which is determined in a conventional manner.

Each vehicle 12-18 may include a radio 80. The word radio means awireless communicator. The radio 80 may be used to wirelesslycommunicate though a plurality of different types of systems such as butnot limited to a vehicle to vehicle, satellite and cellular systems.Although communication between vehicles was described above, thecommunication is between the radios within or connected to the vehicles.The radio 80 may be a vehicle-to-vehicle radio that is used forcommunicating various types of data between the vehicles 12-18. As willbe described below, a vehicle identifier and position may becommunicated. However, various other types of data includingvehicle-to-vehicle messages may also be exchanged between the radios 80.The vehicle radios 80 are direct communication radios that do notrequire the use of communication through a cell communication system 30or through the satellite control system 52. As will be further describedbelow, the vehicle-to-vehicle radio 80 may be a primary source ofintercommunication which is backed up by the cellular communicationsystem 30 and/or the satellite 40. The radio 80 may also act as thesatellite 40 or the cellular communication system 30. Also, as describedbelow, the cellular communication system 30 may act as a backup for thesatellite 40. The vehicle-to-vehicle radio 80 may act as a backup to thecellular communication system 30.

Referring now to FIG. 2, the radios of the vehicles 12-18 may alsointercommunicate through a drone 210. The drone 210 may include a relay212 that is used for communicating content from each vehicle to othervehicles located in the area. The drone 212 may act as an extension ofthe antenna 36 located on the master vehicle. A controller 214 maycontrol the flight characteristics and the relay of signals to and fromthe master vehicle 12 from the vehicles 14, 16 and 18. The drone 210 maythus act as an antenna for the master vehicle 12. The relay isparticularly suitable for expanding the area for intercommunicationbetween the vehicles 12-18.

Referring now to FIG. 3, the vehicles 12-18 are illustrated within aboundary 310. The boundary 310 represents a distance from the mastervehicle 12. The third vehicle 18 is entering the boundary 310. The firstvehicle 14, the second vehicle 16 and the master vehicle 12 have alreadyformed a group. The third vehicle 18 is entering the boundary. A groupmay be automatically formed by any vehicle entering a predeterminedboundary so that the vehicle can intercommunicate with the othervehicles in a group for safety purposes. The third vehicle 18 may beassigned a timeslot when a predetermined distance is determined from avehicle. That is, the distance or global position of the master vehicleis determined. The position of the third vehicle 18 also determined.When the master vehicle determines that the third vehicle 18 is withinthe boundary 310, a timeslot for communicating with the other vehicles12-16 is provided. The position of all the vehicles within the group maybe provided to the groups so the safety of the riders or vehicleoperators may be improved.

Referring now to FIG. 4A, each of the vehicles 12-18 illustrated inFIGS. 1-3 may include a screen display 410. The screen display 410 maybe associated with control buttons 412A-412C. The control buttons may beused to control various functions of the display 410. The display 410 isillustrated for the group formed in FIG. 3 after the vehicle 18 joinsthe group. In this example, the display 410 corresponds to the displayof the vehicle 14 and is labeled “you.” The relative positions of eachof the other vehicles 12, 16 and 18 are also set forth. The direction orrelative headings 420 of each of the vehicles are labeled.

A nearby vehicle 422 may also be displayed. The nearby vehicle 422 maybe a vehicle not yet within the group. That is, data from the group ordata to the group besides a vehicle position may not be exchangedbetween nearby vehicle 422 and vehicles 12-18.

The buttons 412A-412C may be discrete buttons adjacent to the screendisplay 410 or may be touch screen display buttons displayed at thebottom of the screen. In this example, button 412A corresponds to a“changed view” button which may change the view of the vehicles to adifferent type of view or a high level view on a map. Button 412B may bean interface to allow a message to be sent. Button 412C may be an SOSbutton that sends a signal to the other vehicles, notifying them thatthe present vehicle is in need of help. Various numbers of buttons maybe used. The number of buttons may change as the screen changes by theuse of touch screen buttons.

Referring now to FIG. 4B, the screen display 410 is reached afterdepressing the button 412. In this example, new buttons 430A and 430Bare illustrated. Button 430A corresponds to a send button for sendingthe message display. Button 430B returns to a previous screen. In thisexample, a keyboard 432 is used for typing messages within a messageindicator portion 434 of the screen display 410. Of course, the keyboard432 may be a touch screen keyboard with various letters and numbers forgenerating the messages which may be sent by the vehicle radioassociated with the display 410. Voice control may also be used forgenerating messages as well.

Referring now to FIG. 5, a block diagrammatic view of the radio 80 forthe vehicles is set forth. The system has a controller 510 that isformed using one or more microprocessors. The controller 510 is coupledto a user interface 512. The user interface 512 may be one or moredifferent types of user interfaces that act alone or together to allowthe user to input various commands or control the radio. In thisexample, five buttons 514 are used for various functions such as dimmingthe backlight and controlling various functions on the screen. The userinterface 512 may also include an ambient light sensor 516 for dimmingor brightening the display depending on the conditions around the radio.The ambient light sensor 516 generates an ambient light signalcorresponding to the amount of light received at the sensor 516.

The user interface 512 may also include a liquid crystal display (LCD)518. The liquid crystal display 518 may be used to display various menusand displays such as the display 410 illustrated above. The LCD display518 may be backlit and have high resolution to provide various types ofdata and interfaces therein.

The user interface 512 may also include a touch screen 520. The touchscreen 520 may react to touch and gestures such as sliding gesturesacross the screen thereof. The touch screen display 520 may useprojective capacitive technology to sense a touch and gestures upon thesurface thereof.

The controller 510 may also be coupled to a wired input/output (I/O)530. The modules set forth in the wired I/O 530 include a power source532 such as the vehicle battery or an ignition signal that is poweredwhen the ignition of the vehicle is operating. The wired I/O 530 mayalso include a VHF push-to-talk module 534. The VHF push-to-talk modulemay allow voice communication directly between various vehicle radios.

A serial module 536 may provide the controller 510 a means for serialcommunication external to or within the vehicle.

An ambient air temperature sensor 538 may be used to provide the ambientair temperature to the controller 510. A cellular USB module 540 allowsa wired USB connection between the controller 510 and the originatingdevice such as a cellular phone.

A USB charge port 542 may also be provided in communication with thecontroller 510. The USB charge port 542 may be a port used to receive ortransmit content to or from a mobile phone. USB charge port 542 may alsoprovide enough current to charge a cellular phone.

A controller area network (CAN) 544 may be provided. The various devicesor modules set forth within the radio may communicate with thecontroller area network. The controller area network 544 may alsocommunicate with other sensors and actuators within the vehicle.

A secure car area network 546 may also be included within the system.The secure controller area network 546 may allow secure connectionsbetween the various devices within the vehicles.

The controller 510 may also be coupled to a camera 548. The camera 548may be an NTSC camera. Of course, one or more cameras 548 may beincorporated into the system.

The wired I/O 530 may also include an audio input/output module 550. TheI/O module 550 may generate various output signals that correspond toaudio output. In this example, the audio module 550 may provide variousnumbers of outputs including six outputs. The controller may alsoreceive inbound audio signals through a jack or connector. The presentdisclosure has two audio inputs.

The controller 510 may also be coupled to the Apple interface 560. TheApple interface 560 may allow the vehicle to intercommunicate with anApple® device.

An accelerator/gyrometer 562 may also be used by the controller 510 forproviding data regarding the state of the vehicle. For example, theaccelerator/gyrometer 562 may provide various rotational moments andaccelerometers in various directions.

The controller 510 may also be coupled to various types of memoryincluding an eMMC memory 564. The eMMC memory 564 is an embeddedmulti-media controller memory that comprises both a flash memory and acontroller embedded therein for controlling the flash memory.

Another memory associated with the controller 510 is a dynamic randomaccess memory (DRAM) 566. The dynamic random access memory 566 may beused for storing the program code for the processor functions.

A real-time clock 568 may also be coupled to the controller 510. Thereal-time clock 568 may include a battery to maintain the time therein.The real-time clock 568 may be set to function or synchronize with aglobal positioning system.

A wireless module 570 may include a WiFi module 572 for coupling toWiFi. The wireless module 570 may also include a Bluetooth interface574. In this example, two Bluetooth interfaces 574 are provided. A radiomodule 576 may also be provided within the wireless module 570. Theradio module 576 may provide vehicle-to-vehicle radio functionscontrolled in part by the controller 510. The radio module 576 will bedescribed in further detail below.

The wireless module 570 may also include a global positioning systeminterface 578. The global position system interface 578 may interfacewith the global satellite system and relay the signals to the controller510 or may determine from the signals within the global positioningsystem module 578 the position of the vehicle.

The wireless module 570 may also include an AM/FM/weather band (WB)interface for interfacing with the AM, FM and weather band ofover-the-air broadcasts. The AM/FM/weather band module 580 may couplewith the speakers for audibly displaying various signals thereon.

The wireless module 570 may be controlled by the controller 510 inresponse to various responses from the user interface 512. That is, thevarious portions of the user interface 512 may be communicated to thecontroller 510 to allow the various other portions associated with theradio to communicate thereto. The wireless module may control bothinbound and outbound data and messages for the radio 80.

The wireless module 570 also may include a satellite transceiver 582.The satellite transceiver 582 is used for receiving signals from asatellite. In certain examples, the satellite transceiver may also beused to transmit signals to a satellite.

A cellular transceiver 584 may also be part of the wireless module 570.The cellular transceiver 584 may be used to transmit and receive signalsfrom the cellular communication system 30. The cellular system 30 may bean LTE system or other types of wireless technology.

Referring now to FIG. 6, the radio module 576 is illustrated in furtherdetail. The controller 610 includes a serial peripheral interface 612,an interrupt output 614 and a GPS input 616. The serial peripheralinterface 612 exchanges signals between the controller 510 and thecontroller 610. The serial peripheral interface 612 is used both totransmit and receive messages. The serial peripheral interface 612receives configuration signals and received messaging signals from thecontroller 510. The interrupt output 614 generates interrupts that arecommunicated to the controller 510 for various control functions.

The GPS input 616 receives one pulse per second signals from the GPSsystem. The GPS signals represent signals from a satellite and togetherwith the timing may be used to triangulate a position of theradio/vehicle.

The controller 610 is in communication with a transceiver 620 through aserial port interface 622. The transceiver 620 is used to transmit andreceive radio signals from the front end module 630. The front endmodule 630 is used to amplify the signals received and transmitted fromthe receiving antenna 632 and to the transmitting antenna 634. The radiomodule 576 may be used for vehicle communication.

The controller 610 includes firmware 640 for controlling the functionsof the radio including timing of the signals, queuing of the signals andthe exchange of signals between the transceiver 620 and the controller510.

Referring now to FIG. 7, the firmware 640 for the controller 610 is setforth. In this example, the interface 710 is in communication with theserial radio module 620. Interface 710 is in communication with a serialperipheral interface master 712. The serial peripheral interface master712 is in communication between the interface 710 and the radio physical(PHY) control module 714. The SPI master 712 is the driver that enablescommunication to the physical radio control module 714 to control andconfigure the radio as well as transmit and receive messaging therefrom.The radio physical control module 714 is in communication with a radioframe control module 716. The radio frame control module 716 manages theframe timing of the radio link. It uses a mixture of timing parametersand configurable parameters that are maintained by a configurationmanagement block module 718. The timing of the radio control module forthe radio frame control module 716 is globally timed between all of theradio modules by way of the 1PPS from the GPS time-based module 720. Thetime-based module 720 receives the GPS signal 722 through the time-basedmodule 720.

The radio frame control module 716 is in communication with the poweramplifier control block 730. The power amplifier control block 730controls the front end module 630 to select the appropriate antenna thatis used for communicating the transmit output power.

A transmit message processing module 732 coordinates acquiring the nextmessage to send from the appropriate transmit queue based upon theappropriate frame timing. The transmit message processing module 732 isin communication with a fast pipe transmit queue 734, a slow pipe queue736, and a beacon pipe queue 738.

A received message processing module 740 handles received messages thatare received at the radio module 576. The messages may be frame checked,validated and a wrapper added to indicate where in the frame the messagewas received. The valid messages are then placed in the received messagequeue 742. By knowing where in the frame that the message was received,the originating radio module or node may be determined therefrom. A hostapplication interface 750 processes the received host messages andeither forwards data or dispatches actions to the various blocks withinthe system. The host API module 750 is in communication with theconfiguration management module 718, the fast pipe transmit queue 734,the slow pipe queue 736, the beacon pipe queue 738 and the receivedmessage queue 742. The host API module 750 may also be in communicationwith the GPS time-based module 720. The host API module 750 alsoretrieves and forwards messages from the queues mentioned above. Thehost API module 750 is also in communication with the SPI slave module752. The SPI slave module enables the transmission and reception ofmessages to and from the host 510 and, more particularly, to the serialperipheral interface, the interrupt output 614 and the GPS unit 616. Theradio module 576 acts as an SPI slave device.

The configuration management module 718 maintains the configurable radioparameters which are both persistent and non-persistent. Theconfiguration management module 718 also performs frame timing, RFfrequency selection and the group number and associated data. Theconfiguration management module 718 also maintains the frequencies forthe frequency hopping as will be further described below.

Referring now to FIG. 8, details of the controller 510 are illustratedin further detail. The host 510 may be used to perform various functionsas set forth in the modules below. The controller 510 may be used toperform various master functions. All of the radios in a group may havethe capability to act as a master radio. However, once a master orleader is chosen as described before, the master is maintained until thegroup terminates. In block 810, a distance module is used to determinethe distance to a group. The distance to group master determinationmodule 810 receives the GPS coordinates of the vehicles within thegroup. When a vehicle joins the group within a predetermined distance,the joining radio may join the group as will be described below. Inblock 812, a group list identifier storage module maintains a list ofthe radios within a radio group.

A comparison module 814 is used to compare the distances of nearbyradios to the master radio. The distance may be used to allow entry intoa group.

The frequency hop control module 816 controls the frequency hopping forthe radios. That is, the group may all simultaneously frequency hop sothat intercommunication takes place. The frequency hopping will bedescribed in further detail below.

A prioritization module 818 is used to prioritize various signals. Forexample, an SOS signal or an emergency vehicle signal may have priorityover various other types of communication signals. A group membershipmodule 820 may be used to identify nodes for the various radios withinthe group. Each node is assigned a timeslot for communication.

A satellite transceiver 822 may also be included within the controlmodule 510. The satellite transceiver module 822 may communication bothto and from a satellite.

A cellular transceiver module 824 transmits and receives signals from acell tower antenna.

A radio transceiver module 826 sends and receives signals from one ormore radios. A drone control interface 828 controls a drone. That is,both communication signals pass through a drone and the location of adrone may be controlled using the drone control interface 828. It shouldbe noted that not all of the transceivers are required for acommunication system. For example, the satellite transceiver 822 or thecellular transceiver module 824 may easily by eliminated. However, theRF transceiver 826 may also be a backup for the satellite transceiver822 and the cellular transceiver 824. Details of the various modules setforth in FIG. 8 will be described in more detail below.

The control module 510 may also include a packet relay module 830. Arelay list 832 is in communication with the packet relay module 830. Thepacket relay module 830 maintains the relay list 832. The packet relaymodule recognizes that each node or radio in a group has a limited radiorange within which it can communicate to and from other nodes. Due tospatial diversity, the nodes may be split into two different groups.However, as long as there is a subset of nodes that can communicate, thenodes can form a path to other nodes indirectly and therefore a meansfor connecting in-range and out of range nodes is possible. The relaylist 832 is a list of the nodes and the communication aspects betweenthe nodes. That is, some nodes may be active, some nodes may beinactive, and some nodes may be relayed. The packet relay module 830 isan array of nodes states which may be communicated to other nodes asregular updates. The details of this will be described in greater detailbelow.

Referring now to FIG. 9, a diagrammatic view of the RF message format isset forth. An RF message 910 is illustrated having a length portion 912and a payload portion 914. The length portion 912 may provide anindication as to the length of the payload 914. The length portion 912may be one byte and the payload portion may be a maximum portion of 45bytes in this example. A length of zero may indicate a host message. Alength of one may indicate a radio message. The most significant bit ofthe length may be used to define the destination of the message. Amessage type and cyclical redundancy check may be provided within theradio hardware as may be described in more detail below. The RF message910 applies to messages that are communicated through the fast pipetransmit queue 734, the slow pipe queue 736 and the beacon pipe queue738. The slow pipe queue 736 may be referred to as a long range queuewhereas the fast pipe may be referred to as a short range queue.

Referring now to FIG. 10, the long range (slow pipe) communication chartfor a constricted radio is set forth. The charts illustrated in FIG. 10have the long range nominal data rate is 1563 bytes per second with eachmessage length being a maximum of 45 bytes total. Chart 1010 illustratesthe maximum users allowed, the bits per user per second and the latencywhen the maximum amount of users allowed changes. The first row has twomaximum allowed users which allows 92 bits per user per second and alatency speed of 4 seconds. When the maximum amount of users allowed is5, the bits per user per second is 36.8 and the latency is approximately10 seconds. When the maximum amount of users allowed is 10, the bits peruser per second is 18.4 and the latency is 20 seconds. When the maximumusers allowed is 20, the bits per user per second are 9.2 and thelatency is 40 seconds. Each message duration may be 382 milliseconds.

The overall radio parameters may have the RF bandwidth being 62.5kilohertz. A spreading factor of 8 long range, 6 short range and 6beacon intervals are set. The transmit may be 30 dBm or 1 watt.Fifty-three of a possible 257 possible RF channels may be used. Aplurality of hop tables may also be used. 256 hop tables with a maximumdevolved time of 400 milliseconds may be used. The system may use timedivision multiple access.

Frequency hop spread spectrum operation may be performed between 902 and928 megahertz. In table 1012, one of the examples of the short rangecharacteristics of the communicating radios is set forth. In the shortrange radio, the nominal data rate in this example is 4688 bps. Themessage length is approximately 46 bytes. As mentioned above, each ofthe short range, long range and beacon signals may be 46 bytes totalmaximum. In this example and as will be described below, more data maybe communicated in a short range. In this example, when two users areallowed, 920 bits per second may be communicated with the latency of 2.4seconds. This is ten times faster than that of the long range signal oftable 1010. When five maximum users are allowed, 368 bits per second peruser may be communicated with the latency of one second. When a maximumamount of users allowed is ten, the bits per user per second is 184 andthe latency is two seconds. When the maximum amount of users is 20, thebits per user per second is 92 and the latency is four seconds. Themessage duration of the short range signal is 101 milliseconds.

With respect to the beacon signal, a nominal data rate of 4688 bits persecond is set forth. As mentioned above, the message length may be 46bytes total but the beacon may have 278 symbols of preamble therein. 92bits may be communicated per second with the beacon signal wherein themessage duration is 380 milliseconds with a message latency of twoseconds.

By using time deviation multiple access (TDMA), a contention-free accesssystem be used. A dedicated bandwidth per node is provided anddeterministic latencies ensure sufficient and predictable communicationfor both the fast pipe and the slow pipe as will be described below.

Referring now to FIG. 11, in the present example, a frame 1110 isdivided into ten timeslots 1112 when the maximum amount of allowed usersis 10. In this example, each frame is 20 seconds or 20,000 milliseconds.Each timeslot 1112 is 2,000 milliseconds. Therefore, there are threeframes per minutes. Each radio module or node is assigned a numberwithin a group. Depending on the number of members in the group, asillustrated above in FIG. 10, each node may be assigned a wholetimeslot, multiple timeslots or fractional timeslots to optimize thedata transfer. The timeslots are numbered at the start of a minute bythe following equation: INT((sec/2)%10).

Referring now to FIG. 12, a distribution of the number of timeslots as afunction of group size is set forth. In the following example, themaximum nodes allowed in the first row is 2. Therefore, the number oftimeslots per node per frame is 5. When the maximum number of nodesallowed is 5, the number of timeslots per node per frame is 2. When themaximum amount of nodes allowed is 10, the number of timeslots per nodeper frame is 1. When the maximum amount of nodes allowed is 20, 0.5timeslots per node per frame is illustrated.

Referring now to FIG. 13A, a timeslot 1310 is illustrated having a slowpipe 1312, a fast pipe 1314 and a beacon pipe 1316. The slow pipe, inthis example, is 400 milliseconds. The fast pipe is 1200 millisecondsand the beacon pipe is 400 milliseconds. The overall timeslot is 2,000milliseconds or 2 seconds. Each of the pipes 1312, 1316 is of a fixedduration and is always present within a frame. Each node has aguaranteed and uncontested period of time to transmit its assigned pipewithin the timeslot.

Referring now to FIG. 13B, the frame 1310 is illustrated with respect tothe channel hopping frequencies. The number of channels hopped in each2-second RF frame is 6. One frequency of 400 milliseconds in length isset for the slow pipe. The fast pipe 1314 is broken into 10 portions1320 that correspond to each node. Therefore, in this example, the fastpipe has portions F0-F9. In this example, 3 fast pipe portionscorrespond to a frequency hop. Therefore, the fast pipe has 3 frequencyhops C1, C2 and C3. The last fast pipe portion F9 (the tenth in thisexample) has a fourth channel C4. The beacon 1316 also has acorresponding channel hop frequency C5. Each channels dwell time isunder the FCC limit of 400 milliseconds because the guard bands aroundthe slot and the way the fast pipe is divided is in period of between120 milliseconds and 360 milliseconds.

Referring now to FIG. 14, the diagrammatic representation of a method ofoperating a radio is set forth. In state 1410, the radio is idle. Instate 1412, the radio is turned on and a scan 1414 is performed. A groupnumber 1416 may be assigned and the new or joining radio joins the groupin 1418. A slot number 1420 is assigned to the radio. The system alsoincludes a ride (or vehicle operation) mode at 1422 in which signals areexchanged during the designated timeslots per node. After riding oroperating the vehicle is performed in 1422, a radio may leave the groupin 1424. The group determines the channel hop table usage whereas thesize is the maximum number of riders in the group. In some examples,size of the group may not be a factor. That is, the group may not have amaximum size. It should be noted that when group numbers are assigned,the master or leader of the group is assigned slot 0 as will bedescribed in more detail below.

Referring now to FIG. 15, a slow pipe 1312 is illustrated having a guardtime 1510 that shows both before and after a slow pipe message 1512. Inthis example, the slow pipe duration is 400 milliseconds while the slowpipe message duration is 382 milliseconds. Each guard time 1510 may be 9milliseconds.

Referring now to FIG. 16A, a fast pipe 1314 is illustrated with aplurality of slices 1610. The fast pipe 1314 is designated for fastspeed and shorter range as compared to the slow pipe 1312. The fast pipehas 10 slices, each of which correspond to a respective node within thegroup. The lower latency of the fast pipe provides a higher speed. Eachof the slices within the fast pipe includes a guard time 1612. Betweeneach guard time, it is a fast pipe slice message 1620. The fast pipeduration is 1200 milliseconds. The fast pipe slice duration is 120milliseconds. The fast pipe message duration is 101 milliseconds and thefast pipe guard time is 9.5 milliseconds in this example.

Referring now to FIGS. 17A and 17B, the beacon type 1316 is illustratedin detail. The beacon pipe contains beacon messages transmitted by themaster radio or the radios of the group. The beacon messaging providesthe joining data for unassociated nodes to find nearby groups. Thebeacon contains data about the groups so that unassociated nodes canjoin. As mentioned above, the duration of the beacon 1316 is 400milliseconds. The guard portions 1710 are 10 milliseconds and the beaconmessage 1712 is 380 milliseconds. The beacon message 1712 has a beaconpreamble 1720 and a beacon payload 1722. The beacon preamble 1720 andthe beacon payload 1722 combine to about 380 milliseconds. During abeacon preamble 1724 allows for the carrier activity detection facilityof the radio hardware to switch to the next frequency. All potentialfrequencies cannot be listened to within a single beacon pipe duration.However, in this example, three beacon pipe intervals allow all of thefrequencies to be scanned.

FIG. 17B is a transmit beacon whereas a receive beacon 1730 is set forthin FIG. 17C.

FIGS. 18A-181 contain various portions of a fast pipe, slow pipe andbeacon pipe. The same data may be communicated in the fast pipe and slowpipe. The fast pipe may contain some additional data.

Referring now to FIG. 18A, a packet 1810 used in the communicationsystem each contain a protocol identifier byte (PID) 1812. Each packetmay also contain a checksum such as a cyclical redundancy check byte1814. Protocol specific data portion 1816 may also be included after theCRC packet. The protocol ID identifies the type of packet as thecyclical redundancy check helps determine errors.

Referring now to FIG. 18B, a group ID packet may comprise a group size1818 and a group identifier 1820. The group size 1818 may be 6 bits andranges from 1-63. The group identifier may range from 0-1023 (10 bits).Together the group size and the group identifier are two bytes (16bits). Group size may be an optional feature.

Referring now to FIG. 18C, a GPS latitude and longitude may also beprovided as a protocol specific data. A latitude portion 1822 and alongitude portion 1824 may include a total of 8 bytes.

Referring now to FIG. 18D, an elevation 1826 may also be provided. Theelevation may be in meters and correspond to 2 bytes. The elevation dataand the GPS data in FIGS. 18D and 18C, respectively, may be obtainedfrom the GPS signal.

Referring now to FIG. 18E, a message identifier that may contain a textmessage for another radio is set forth. A sequence number that is usedto display notifications is set forth as 3 bits in 1828. An identifierportion 1830 may have 4 or 5 bits and may indicate a type of data. Forexample, a zero in the identifier bit may indicate there is no messageand thus is a placeholder. A placeholder may also default tocommunicating the last known position of the radio. An identifier of “1”may indicate an SOS and thus the vehicle may be prioritized. Other typesof identifiers may also be provided.

Other types of data include speed with one byte of data, a fault code(crash, stall, battery), slot, color (for rely purposes set forthbelow), heading with one byte of data in degrees and a vehicleidentifier that has three bytes and a cyclical redundancy check of 24.The vehicle identifier may be a vehicle identification number or sometype of serial number.

A vehicle information byte is illustrated in FIG. 18F. In this example,a gear portion 1840 may be used as all as a type portion 1842 forgenerating the gear the automatic transmission is in.

Referring now to FIG. 18G, a pipe configuration packet 1850 is setforth. In this packet, 8 bytes are used, 2 of which correspond to aspreading packet 1852, 2 bits correspond to a coding rate 1854 and 4bits correspond to a payload size 1856. In this manner, the spreadingfactor, coding rate and payload size of each of the fast and slow pipeconfigurations may be communicated to the node radios.

Referring now to FIG. 18H, a group occupation packet may be 4 bytes incommunicating the occupied slots for the group.

Referring now to FIG. 18I, a group join acknowledge packet has a slotidentifier with 1 byte in the slot portion 1862 and 3 bytes for the slotidentifier 1864.

Referring now to FIG. 19A, the beacon packet 1316 is set forth. In thisrepresentation of the beacon packet 1316, a protocol identifier (PID) inthe protocol identification portion 1910 indicates the packet is abeacon packet. A cyclical redundancy check portion 1912 is set forth. Agroup identifier 1914, a time portion 1916, a fast pipe configurationportion 1918, a slow pipe configuration portion 1920, a GPS portion1922, a group occupation portion 1924, a group acknowledge portion 1926and a name portion 1928 may all be included therein.

Alternatively, a new group user may use group occupation information andchoose a potential slot to use. As part of the joining operation, theuser randomly listens to the chosen slot a small portion of the time. Ifthe new user hears another radio in the chosen slot, then the new groupuser knows there is a conflict. The new group user then switches toanother available slot, as determined by which slots they are receivingpackets in. This listening and slot switching is an ongoing operation sono master is required to assign slots to riders.

Referring now to FIG. 19B, a protocol ID (PID) of 11 is set forth in thePID portion 1930. A CRC portion 1932 is also included therein. A messageportion 1934, a vehicle identifier 1936, a vehicle information packetsuch as the gear and the SOS type 1938 is provided therein. A GPSportion 1940, a group identifier portion 1942, an elevation portion1944, a speed portion 1946, a vehicle heading portion 1948 and a nameportion 1950 may all be set forth in a fast node packet.

Referring now to FIG. 19C, as mentioned above, the slow pipe packet maycontain less data. In this example, a protocol identifier of 12 in theprotocol identifier portion 1960 is the number 12 representing a slownode or slow pipe packet. A CRC is provided in portion 1962. A messageportion 1964, a vehicle identifier portion 1966 and a GPS portion 1968may all be included in the slow pipe packet 1312.

Referring now to FIG. 20, a timeslot usage versus the number of nodes ina group is illustrated in the table. The table has a first RF frame2010. A second RF frame is illustrated at 2012. The table shows the slowpipe usage for timeslots within an RF frame for various support groupsizes. For example, 2 nodes, 5 nodes, 10 nodes and 20 nodes are allillustrated as the maximum number of nodes. In each timeslot node 0corresponds to the master radio and the other numbers correspond to thenode. In frame 1, every other timeslot corresponds to the first node.With 5 nodes, the nodes are used twice per RF frame. With 10 nodes, eachnodes uses one of the ten timeslots. With 20 nodes, each of thetimeslots of the first and second RF frame are used. The table alsoindicates the usage of slices within the fast pipe. That is, when viewedfrom the perspective of a slow pipe, only one slow pipe per timeslot isprovided. The timeslots are all broken into slices in which therepetition rate for the various slices and the number of slices pertimeslot is also indicated. That is, reference frame 1 and referenceframe 2 may correspond to consecutive slices when referring to a fastpipe.

Referring now to FIG. 21A, the number of transmit events into an RFframe is set forth for the master radio and radios of other nodes. Oncethe group reference time, which corresponds to the time of groupformation, is known and the current time from the GPS system, the numberof transmit events that have elapsed since the group's formation foreach node and therefore the current transmit frequency may bedetermined, an index into a frequency table offset may be used using thegroup reference time as the group offset and the node number as thesecond offset. The group offset lessens the likelihood that two groupshave the same group number and collision frequency. The second offsetreduces offset that a frequency jamming signal can corrupt all the nodecommunications at a given time. When 2 nodes are used in the system, 10slow pipe communications, 100 fast pipe communications may take placeand 20 beacon communications may take place. When 5 maximum nodes areprovided, 4 slow communications, 40 fast communications and 20 beaconcommunications may take place. With 10 maximum nodes, 2 slowcommunications, 20 fast communications and 20 beacon communications maytake place. When 20 maximum nodes are provided in a system, 1 slowcommunication, 10 fast communications and 20 beacon communications maytake place.

Alternatively, in a system with no master (all radios transmit beacons)the maximum number of transmit events the maximum will be the number forthe master described above. However this number may be reduced.

Referring now to FIG. 21B, the transmit events in one RF frame for eachof the either master node or the other nodes is set forth. As noted, themaster node communicates both the beacon and data. With 2 maximum nodes,65 transmission events and 55 transmission events for each node besidesthe master node take place. When 5 maximum nodes are provided within asystem, 32 transmission events for the master and 22 for each other nodeare provided. When 10 is the maximum number of nodes, 21 mastertransmission and 11 transition events are formed. When 20 maximum nodesare provided is a system, 15.5 master transmission events take placewhile 5.5 individual node events take place. Of course, the tables setforth in FIGS. 21A and 21B may be derived from the timeslot usageillustrated in FIG. 20.

Referring now to FIG. 22, a method for forming communication signalscorresponding to the above figures is set forth. In step 2210, thevarious types of time frame parameters are established including thefrequency hop parameters and the time frame parameters such as theduration of the slow pipe, the duration of the fast pipe, the durationof each of the slices and the duration of the beacon pipe. In step 2212,the time frame is divided into the plurality of timeslots wherein eachtimeslot has a node identifier. As mentioned above, the node identifiercorresponds to one of the plurality of audible nodes. In step 2214, thetimeslot node identifier is provided for each vehicle radio in a group.When the timeslot node identifiers are assigned, unused timeslots areprovided. In step 2216, a slow pipe data is generated for each userdevice of the group. In step 2218, the data is inserted into the singlenode corresponding to the timeslot. In step 2220, fast pipe data isgenerated for each of the nodes in the group. If fast pipe data is notdesired to be transmitted by one of the nodes of the group, aplaceholder may also be generated in step 2220. In step 2222, the fastpipe data or the placeholder data for each node is placed into the pipein sequence that they were placed into the queue. That is, both the fastpipe and the slow pipe have a queue within the radio and thus thecontent to be provided within the fast pipe or slow pipe arecommunicated in order. In step 2224, beacon data is generated at themaster radio. The beacon data may provide the various types of dataillustrated in FIG. 18. In step 2226, the beacon data is communicatedfrom the master radio.

In step 2228, the master radio maintains the group of radios within thegroup.

Referring now to FIG. 23, a method for operating the system is setforth. In step 2310, the protocol for communicating between the masterand other radio nodes is set forth. The protocols are set forth above indetail. In order for the master radio to operate and the other radios tooperate that are within the nodes, step 2320 obtains a GPS lock at themaster radio and any joining radio nodes. At step 2314, a beacon messageis transmitted from the master radio. As mentioned above, the beacontransmit message comprises a relatively long preamble as compared to thebeacon payload. In step 2316, the group beacon data for joining thegroup is provided. In FIG. 18, various types of data for joining thegroup including the group identifier and the user nodes are provided. Instep 2318, the beacon transmit message is communicated from the mastersystem with the joining data. In step 2320, the joining radio nodes scanall possible frequencies for the preamble and switches to the nexthopping frequency. As mentioned above, this may be calculated based uponthe joining data as described above in various places including withreference to FIGS. 21A and 21B.

Referring now to step 2322, it is determined at the joining node whetherthe master system is nearby. In the joining data, the GPS location of amaster system is communicated. The location of the joining radio is alsoknown. Therefore, if multiple group identifiers are obtained by thejoining radio, the nearest group may be joined.

In step 2324, the time of the group formation and the current time isused to determine the number of transmit events so that the frequencyhop may be determined based upon the joining data of the beacon. Anotherway to determine the frequency is using the group number and the GPStime. That is, the time of group formation may not be used. In step2325, data is transmitted during the timeslot for each member of thegroup. In step 2326 the timeslots may be monitored for missing data fortimeslots which are identified in the joining data. The master systemmay provide the used node identifiers. In step 2328, the data may betransmitted from the joining radio. The transmission of step 2328 isreceived at the master radio during the identified timeslot in step2330. In step 2332, if the node is available, the timeslot is assignedto the joining or first radio in step 2334. In step 2336, anacknowledgement signal is communicated to the first radio and the groupbeacon data is updated in step 2338 to correspond to the node being usedby the recently joined radio.

Referring back to step 2332, if the node is not available, step 2350 isperformed in which the master radio does not send an acknowledgementsignal and a different timeslot may be identified for the joining radioin step 2352. After step 2352, data may be transmitted again from thejoining radio in step 2338.

Referring now to FIG. 24, a method for initiating a group from a masterradio is set forth. In step 2410, a scan from the master radio isperformed when a group is to be formed. This may take place afterpowering up the master radio. In step 2412, a unique group code that isnot previously received during a scan step is performed. That is, instep 2410, the group identifiers for all adjacent groups capable ofbeing received may be provided and monitored. In step 2412, a uniquegroup not previously used is obtained. In step 2414, a beacon signalcomprising the group code and other joining data is generated. In step2416, if a joining signal from outside the radio group is formed, a nodemay be assigned in step 2418 as described above. In step 2416, when aradio signal is joined from within the group, the beacon data maycontinue to be communicated. In this manner, the master radiocontinually monitors for new signals that could potentially join thegroup.

Referring now to FIG. 25, a joining radio that is not part of the groupmay join the group automatically when the radio is close by. In step2510, a group is established with a master vehicle and a plurality ofvehicles as described above. In step 2512, a first communication signalis generated from a first vehicle that is not within the group. In step2514, the first communication signal from the first vehicle is receivedat the master vehicle. In step 2516, it is determined whether theidentifier that is associated with the first communication signal is ina group list of identifiers. If the vehicle identifier from the firstcommunication signal is in the first group, the process ends in step2518.

Referring back to step 2516, if the vehicle identifier is not within agroup list of identifiers at the master radio, step 2520 is performed.In step 2520, the first position of the first vehicle is obtained fromthe first communication signal. In step 2522, the position of the masterradio is determined. Both step 2520 and 2522 may be performed using theGPS data received at each of the radios. In step 2524, the first vehicleposition and the master vehicle position are compared in a comparingmodule to determine the distance therebetween. In step 2526, it isdetermined whether the distance between the two vehicles is within apredetermined distance. When the distance is not within a predetermineddistance, meaning that the first vehicle and the master vehicle are farenough apart, the process ends in step 2518. After step 2526, if thedistance is within a predetermined distance, step 2528 is performedwhich automatically adds the first vehicle to the group. In step 2530, atimeslot is assigned to the first vehicle for communication with theother vehicles. In step 2532, a position is communicated to the groupusing the timeslot of either the slow pipe or fast pipe. Referring backto step 2526, an alternative step compared to those of steps 2528-2532may also be performed when the distance is within a predetermineddistance. The master vehicle in step 2540 may communicate the positionof the nearby vehicle to all the other vehicles. In this manner, thenearby vehicle does not necessarily have to join the group as set forthin steps 2528-2532.

Referring now to FIG. 26, a method for handling emergency vehicles isset forth. In step 2610, a plurality of radio groups are formed at eachmaster vehicle with a plurality of vehicle radios in each group. Thatis, a plurality of master vehicles may form a respective plurality ofgroups that do not intersect. Each radio may only be part of a singlegroup. In step 2612, a timeslot protocol for the groups is establishedprior to forming the groups. Each master radio reserves a timeslot foremergency vehicles to communicate therethrough. In step 2614, groups aresearched for at the emergency vehicle. In step 2616, the emergencyvehicle joins each of the plurality of vehicles using the predeterminedtimeslot for communication therebetween. Should a conflict arise whentransmitting, the closest group may be picked and alternated with duringa conflicting timeslot. In step 2618, a position signal and other datamay be communicated to the group or more than one group during thetimeslot. A vehicle identifier such as the type of emergency vehicle aswell as an emergency message may be communicated. For example, shouldthe system be used for a snowmobile, a groomer message and speed may becommunicated so that various vehicles may be warned of the position of aslow moving emergency vehicle.

In step 2620, a display may be generated at each of the group membersthat correspond to the emergency vehicle. The warning message may alsobe displayed.

In step 2622, the emergency vehicle may continue to scan for othernearby groups so that the emergency signals may be provided thereto.

In step 2624, when a group identifier is no longer received from anothermaster because, for example, the master vehicle has extended beyond theRF range, the available group may no longer be communicated to duringthe timeslot associated with that particular group. Thus, availablegroups are removed in step 2624. After step 2624, step 2614 scans forother groups at the emergency vehicle.

Referring now to FIG. 27, a method for using a satellite to communicateis set forth. As mentioned above, the satellite and satellite system areone example of a communication system. In step 2710, communicationsignals are generated at a vehicle radio. In step 2710, in an attempt tocommunicate through the satellite is provided. That is, a communicationsignal may be generated or communicated through an antenna of thevehicle radio. In step 2714, a response signal is expected at thevehicle radio that communicates in step 2712. However, after a certainamount of time, the response may not come. In step 2716, it isdetermined whether a successful communication was performed to thesatellite. An acknowledgement signal may be communicated back to thevehicle radio to qualify the communication in step 2712 as successful.If the communication is not successful in step 2716, step 2718 attemptsto communicate through the cellular system. In step 2720, a responsefrom the cellular system is expected and therefore an amount of time maybe weighted for by the system to determine whether the communication tothe cellular system is successful. In step 2722, it is determinedwhether the communication with the cellular system is successful. Asmentioned above, if an acknowledgement signal or another type ofresponse signal is received, then the communication with the cellularsystem is successful. After step 2722 determines that the communicationis not successful, step 2724 communicates the first communication signalwith the two-way radio. In this manner, the cellular system may be usedto backup the satellite system and the two-way radio system may be usedto backup the cellular system. However, the vehicle-to-vehicle radio mayalso be used to backup the satellite system.

Referring back to steps 2716 and 2722, when the communication to thesatellite is successful and whether communication to the cellular systemwas successful, step 2730 is performed. In step 2730, it is determinedwhether the communication signal is destined for another user. If no,the system ends in step 2732. If the signal was destined for anotheruser radio, the system continues operation in FIG. 28.

In FIG. 28, step 2810 generates a communication signal at the firstradio that is destined for a second radio. In step 2812, thecommunication signal is communicated from the first radio to a secondradio using the vehicle-to-vehicle radio. In step 2814, it is determinedwhether a response is received from the second vehicle radio. If aresponse is received from the second vehicle radio, step 2816 ends theprocess. Referring back to step 2814, if no response is received fromthe second vehicle, step 2818 determines whether cell service isavailable. If the cell service is available, step 2820 communicates thesignal to the cellular service. In step 2822, it is determined whether aresponse is received at the first radio. If a response is received, asuccessful communication has been performed and therefore the systemends the process in step 2824.

Referring back to 2822, if a response is not received from the cellularservice, or in step 2818 if no cellular service is available, step 2830communicates the signal to the satellite. If the satellite signal issuccessfully received, a response signal may be generated in a similarmanner to that described above. After step 2830, step 2832 generates aresponse from the vehicle radio when a successful transmission isreceived. If no response from the second vehicle radio is received, step2812 is then performed in which a communication signal is communicatedduring a timeslot. In step 2832, if a response is provided, step 2824 isagain performed which ends the process.

Referring now to FIG. 29, in step 2910 communication with acommunication center such as that illustrated in FIG. 1 may beperformed. Access to the communication center may be obtained byoutsiders wishing to communicate with people within the group throughthe internet or the like. In step 2912, a signal is communicated fromthe communication center with the vehicle identifier. The signal may notoriginate from the communication center but rather from various otherplaces. In step 2914, an attempt to communicate to the vehicle radiothrough the satellite may be performed. In step 2916, if a response isnot received, step 2918 attempts to communicate through the cellularsystem. After step 2918, step 2920 determines whether a response hasbeen received from the cellular system. The response may be anacknowledgement signal or some other type of data signal. If a responseis not received, the system attempts to communicate to another groupmember 22. In this manner, a mesh network may be formed between variousvehicles in which one vehicle may relay communications from anothervehicle or from another communication system.

Referring back to steps 2916 and 2920, if successful attempts areperformed in communicating with the satellite in step 2916 or incommunicating with the cellular system in step 2920, step 2930 maygenerate a screen display at the first radio indicative of the datareceived at the communication signal.

Referring now to FIG. 30, a method for preventing multiple signals frombeing used at a receiving device is set forth. Instead of attemptingcommunication as set forth in FIGS. 28 and 29, FIG. 30 allows thetransmitting device to transmit the radio signals. The prevention of useof redundant signals is performed at the receiving device. In step 3010,data for a first communication signal is generated at a first radio. Instep 3012, the communication signal is transmitted through a satellitetransceiver of the first radio. In step 3014, the data signal iscommunicated through a cellular transceiver of the first radio. In step3016, the data signal is communicated through the vehicle-to-vehicleradio according to the timeslot and node assignments as described above.

In step 3018, the data signal is received at a second radio. The datasignal may be received through one of the communication system ormultiple communication systems. That is, the receiving radio may receivethe signal through a satellite transceiver, a cellular receiver, thevehicle-to-vehicle radio or one or more of the communication systems. Instep 3020, it is determined whether the first data has been receivedthrough multiple communication systems. If the first data has beenreceived through multiple communications, step 3022 uses the data fromone of the received data signals. In a practical sense, the first datafrom the first received signal may be used and processed by the secondradio in step 3024.

Referring back to step 3020, when the first data has not been receivedmultiple times, step 3030 is performed. In step 3030, the data is usedand processed from the first data signal.

Referring now to FIG. 31A, as mentioned above, with respect to thepacket relay module 830 and the relay list of FIG. 8, the rider groupmay have a limited ability to communicate with all of the riders in thegroup due to the terrain and distances between the various members ofthe group. The member of the group, as mentioned above, are referred toas nodes. Each node corresponds to a communicating radio.

Relaying is used so that all of the nodes intercommunicate so that datamay be exchanged between each of the nodes of the group. Relaying isperformed by maintaining an array of other nodes with may be designatedas active, inactive or relayed. Each node keeps track of which node'sinformation it sits in in order to provide a relay to other nodes inneed. Each node sends its array of nodes states in a summary form aspart of its regular communications between the nodes. Other nodes areaware of the connectivity of the various nodes. In FIG. 31A, a clusteredgroup 3110 is illustrated. The clustered group includes directconnections 3112 between the nodes 3114. The group 3110 is a clusteredgroup which means that all of the nodes are within range of each other.

Referring now to FIG. 31B, the relay list is set forth in which the leftcolumn is the information or data for intercommunicating with otherdevices. For example, blue is directly connected to green, pink, yellowand purple. Green is directly connected to blue, pink, yellow andpurple. Pink is directly connected to blue, green, yellow and purple.Yellow is directly connected to blue, green, pink and purple. Purple isdirectly connected to blue, green, pink and yellow. As is illustrated,no relaying of data takes place in the group 3110.

Referring now to FIG. 32A, a group 3210 is set forth. In this group, thepurple node moves out of range from the pink node 3214. All the nodes inFIG. 32A are labeled 3214. The direct connections 3212 are the same asthose set forth in FIG. 31A except that a direct connection between thepink node and the purple node is no longer active. In this manner, theblue node relays the data between the pink and purple nodes. In thiscase, the blue node is considered the master node and forwards beacondata so that none of the other nodes needs to relay such as the yellownode or the green node.

Referring now to FIG. 32B, the interconnections relative to the colorsare set forth. In this example, blue communicates with green, pink,yellow and purple. However, the blue node also communicates or relaysdata between the pink node and the purple node as indicated in theright-hand column of the chart. As noted, the blue node communicatesdirectly with each of the other nodes.

The green node communicates directly with blue, pink, yellow and purple.Pink communicates directly with blue, green, yellow and, through arelay, with purple. Yellow communicates directly with blue, green, pinkand purple. Purple communicates directly with blue, green and yellow.However, purple communicates via relay with the pink node.

Referring now to FIG. 33A, the configuration of FIG. 32A is changed bythe purple node 3314 moving further away from the blue master node. Theblue node now must forward all other nodes to the purple because purplecannot intercommunicate with any of the other nodes.

Referring now to FIG. 33B, the relay chart is illustrated. In the toprow, blue communicates directly with all of the other nodes. However,the blue must relay communications from yellow, blue, pink and purple.Blue is the only node that has a direct connection to each of the othernodes.

Green communicates directly with blue, pink and yellow and via relaywith purple. Pink communicates directly with blue, green, yellow andindirectly with purple through the relay of blue. Yellow communicateswith blue, green, pink and indirectly with purple through the relay ofblue. Purple communicates directly with blue and indirectly with green,pink and yellow through the relay of blue.

By the relay chart in FIG. 33B, yellow and green do not need to forwardthe purple data that was received from the blue because the yellow andgreen nodes see that the blue node sees all nodes needing purplealready.

Referring now to FIG. 34A, the pink node 3414 moves a further distancefrom the blue node and therefore the pink node only directlycommunicates with the yellow and green nodes the only connection 3412 topink is either yellow or green.

In the relay list illustrated in FIG. 34B, blue communicates directlywith green, yellow and purple. However, blue communicates indirectlywith pink. Blue relays yellow, green, purple and communicates via relaywith pink. Yellow and green need to relay data between the pink and bluenodes. Blue needs to relay all other nodes including forwarding the pinknode data.

The green node communicates directly with blue, pink and yellow andindirectly with the purple node through a relay with blue. The pink nodecan be relayed by the green node to purple.

Pink indirectly communicates with the blue node and the purple node anddirectly communicates with the green node and the yellow node. Theyellow node communicates directly with the blue node, green node andpink node. The yellow node communicates indirectly with the purple nodethrough the relay of blue. That is, in the right-hand column, bluecommunicates the pink node data with the purple node data.

Referring now to FIG. 35A, a cluster 3510 is more spread out in which aline formation is set forth for relaying and forwarding between nodes.In this example, blue does not relay yellow because it cannot tell thatthe other reachable node, purple, can see yellow already.

In this example, the only direct connection 3512 to pink is green and togreen is yellow. The direction connections 3512 between yellow arepurple and blue. The direct connections between purple are blue andyellow. Blue does not relay yellow because it can tell that the onlyother reachable node, purple, can see yellow already.

Referring now to FIG. 35B, blue is indirectly coupled to green and pinkand directly coupled to yellow and purple. Blue is relay coupled to pinkand couples purple to green. The green node is in direct communicationwith pink and yellow and indirectly with purple and blue. Yellow, pink,blue and purple are all available through relays.

Pink is in direct communication with green but is in indirectcommunication with blue, yellow and purple. Yellow is in directcommunication with blue, green and purple. Yellow is in indirectcommunication with pink through green and relays blue, purple and pinkdata. Purple is in direct communication with blue and yellow and inindirect communication with green and purple.

Referring now to FIG. 36A, a disjoint formation is set forth. In thisexample, green may serve as a relay between pink and yellow while blueand purple are separate. The group 3610 thus has direct connections 3612and is disjointed as indicated by the line 3620. Yellow and blue, ifconnected, would form a line and then a line formation would ensue andblue would relay purple and all nodes received from yellow such as greenand pink and so on. In this example, blue is in direct communicationwith purple but is in indirect communication with green, pink and yellowshould the connection be achieved. Blue must relay purple, yellow topink and green.

Green is in direct communication with pink and yellow and in indirectcommunication with blue and purple. The disjoint nodes are pink andyellow and green is also in a line communication with the pink, yellowand blue and purple when blue is in communication with yellow.

Pink is in indirect communication with blue, yellow and purple and indirect communication with green. Yellow is in indirect communicationwith blue, pink and purple and in direct communication with green. Theline under the blue connection indicates that the set is disjointed asindicated by the dashed line 3620.

Purple is in direct communication with blue and in indirectcommunication with green, pink and yellow.

Referring now to FIG. 37, a flowchart of a method for maintaining therelay list illustrated above is set forth. In step 3710, a group (G) ofnodes between a node N and connected nodes C(x) are formed as a nodeslist. In step 3712, it is determined whether a node C(x) is a missingnode which N can see. If the node C(x) is a missing node, then step 3714is performed in which the missing node is added to the relay with aweight of 1.0. After step 2514, step 3716 multiplexes the relay tableand the weights with the primary protocol packets. In step 3718, thepackets are received from other groups. In step 3720, the elements andlist within the relay list are reevaluated in step 3720 by restartingthe process at step 3712.

Referring back to step 3712, when C(x) is not a missing node which N cansee, step 3730 checks whether C(x) is a missing node which N hasreceived via the relay. If the node is a missing node, step 3732 addsthe missing node to the relay list with a weight of 1.0/G. After step3732, steps 3716-3720 are performed.

Referring back to step 3730, if C(x) is not missing a node, step 3740determines if the node is not equal to the master node (0), C(0) is notactive and has elements in the relay list. If so, step 3742 divides theweights in the relay list by 2. After step 3740 determines whether thenode is not equal to 0 and the C(0) is not active, steps 3716-3720 areagain performed.

The above-disclosed cellular communication system, satellite controlsystem, communication control system, user access system, serviceproviders, advertisers, product and/or service providers, paymentservice providers and/or backend devices may include and/or beimplemented as respective servers. The servers may include respectivecontrol modules for performing one or more of the corresponding tasksand/or functions disclosed herein.

The wireless communications described in the present disclosure withrespect to Bluetooth transceivers of user receiving devices and mobiledevices may include transmission of data and/or signals havingshort-wavelength ultra-high frequency (UHF) radio waves in anindustrial, scientific and medical (ISM) radio frequency band from 2.4to 2.485 GHz. The signals may be transmitted based on Bluetoothprotocols and/or standards. The signals may be transmitted based onBluetooth low energy (or smart) protocols and/or standards. TheBluetooth transceivers may include respective antennas.

The wireless communications described in the present disclosure can beconducted in full or partial compliance with IEEE standard 802.11-2012,IEEE standard 802.16-2009, IEEE standard 802.20-2008, and/or BluetoothCore Specification v4.0. In various implementations, Bluetooth CoreSpecification v4.0 may be modified by one or more of Bluetooth CoreSpecification Addendums 2, 3, or 4. In various implementations, IEEE802.11-2012 may be supplemented by draft IEEE standard 802.11ac, draftIEEE standard 802.11ad, and/or draft IEEE standard 802.11ah.

The foregoing description is merely illustrative in nature and is in noway intended to limit the disclosure, its application, or uses. Thebroad teachings of the disclosure can be implemented in a variety offorms. Therefore, while this disclosure includes particular examples,the true scope of the disclosure should not be so limited since othermodifications will become apparent upon a study of the drawings, thespecification, and the following claims. As used herein, the phrase atleast one of A, B, and C should be construed to mean a logical (A OR BOR C), using a non-exclusive logical OR, and should not be construed tomean “at least one of A, at least one of B, and at least one of C.” Itshould be understood that one or more steps within a method may beexecuted in different order (or concurrently) without altering theprinciples of the present disclosure.

In this application, including the definitions below, the term ‘module’or the term ‘controller’ may be replaced with the term ‘circuit.’ Theterm ‘module’ may refer to, be part of, or include: an ApplicationSpecific Integrated Circuit (ASIC); a digital, analog, or mixedanalog/digital discrete circuit; a digital, analog, or mixedanalog/digital integrated circuit; a combinational logic circuit; afield programmable gate array (FPGA); a processor circuit (shared,dedicated, or group) that executes code; a memory circuit (shared,dedicated, or group) that stores code executed by the processor circuit;other suitable hardware components that provide the describedfunctionality; or a combination of some or all of the above, such as ina system-on-chip.

The module may include one or more interface circuits. In some examples,the interface circuits may include wired or wireless interfaces that areconnected to a local area network (LAN), the Internet, a wide areanetwork (WAN), or combinations thereof. The functionality of any givenmodule of the present disclosure may be distributed among multiplemodules that are connected via interface circuits. For example, multiplemodules may allow load balancing. In a further example, a server (alsoknown as remote, or cloud) module may accomplish some functionality onbehalf of a client module.

The term code, as used above, may include software, firmware, and/ormicrocode, and may refer to programs, routines, functions, classes, datastructures, and/or objects. The term shared processor circuitencompasses a single processor circuit that executes some or all codefrom multiple modules. The term group processor circuit encompasses aprocessor circuit that, in combination with additional processorcircuits, executes some or all code from one or more modules. Referencesto multiple processor circuits encompass multiple processor circuits ondiscrete dies, multiple processor circuits on a single die, multiplecores of a single processor circuit, multiple threads of a singleprocessor circuit, or a combination of the above. The term shared memorycircuit encompasses a single memory circuit that stores some or all codefrom multiple modules. The term group memory circuit encompasses amemory circuit that, in combination with additional memories, storessome or all code from one or more modules.

The term memory circuit is a subset of the term computer-readablemedium. The term computer-readable medium, as used herein, does notencompass transitory electrical or electromagnetic signals propagatingthrough a medium (such as on a carrier wave); the term computer-readablemedium may therefore be considered tangible and non-transitory.Non-limiting examples of a non-transitory, tangible computer-readablemedium are nonvolatile memory circuits (such as a flash memory circuit,an erasable programmable read-only memory circuit, or a mask read-onlymemory circuit), volatile memory circuits (such as a static randomaccess memory circuit or a dynamic random access memory circuit),magnetic storage media (such as an analog or digital magnetic tape or ahard disk drive), and optical storage media (such as a CD, a DVD, or aBlu-ray Disc).

The apparatuses and methods described in this application may bepartially or fully implemented by a special purpose computer created byconfiguring a general purpose computer to execute one or more particularfunctions embodied in computer programs. The functional blocks andflowchart elements described above serve as software specifications,which can be translated into the computer programs by the routine workof a skilled technician or programmer.

The computer programs include processor-executable instructions that arestored on at least one non-transitory, tangible computer-readablemedium. The computer programs may also include or rely on stored data.The computer programs may encompass a basic input/output system (BIOS)that interacts with hardware of the special purpose computer, devicedrivers that interact with particular devices of the special purposecomputer, one or more operating systems, user applications, backgroundservices, background applications, etc.

The computer programs may include: (i) descriptive text to be parsed,such as HTML (hypertext markup language) or XML (extensible markuplanguage), (ii) assembly code, (iii) object code generated from sourcecode by a compiler, (iv) source code for execution by an interpreter,(v) source code for compilation and execution by a just-in-timecompiler, etc. As examples only, source code may be written using syntaxfrom languages including C, C++, C #, Objective C, Haskell, Go, SQL, R,Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5,Ada, ASP (active server pages), PHP, Scala, Eiffel, Smalltalk, Erlang,Ruby, Flash®, Visual Basic®, Lua, and Python®.

The teachings of the present disclosure can be implemented in a systemfor communicating content to an end user or user device. Both the datasource and the user device may be formed using a general computingdevice having a memory or other data storage for incoming and outgoingdata. The memory may comprise but is not limited to a hard drive, FLASH,RAM, PROM, EEPROM, ROM phase-change memory or other discrete memorycomponents.

A content or service provider is also described herein. A content orservice provider is a provider of data to the end user. The serviceprovider, for example, may provide data corresponding to the contentsuch as metadata as well as the actual content in a data stream orsignal. The content or service provider may include a general purposecomputing device, communication components, network interfaces and otherassociated circuitry to allow communication with various other devicesin the system.

While the following disclosure is made with respect to specific servicesand systems, it should be understood that many other delivery systemsare readily applicable to disclosed systems and methods. Such systemsinclude wireless terrestrial systems, Ultra High Frequency (UHF)/VeryHigh Frequency (VHF) radio frequency systems or other terrestrialbroadcast systems (e.g., Multi-channel Multi-point Distribution System(MMDS), Local Multi-point Distribution System (LMDS), etc.),Internet-based distribution systems, cellular distribution systems,power-line communication systems, any point-to-point and/or multicastInternet Protocol (IP) delivery network, and fiber optic networks. Noneof the elements recited in the claims are intended to be ameans-plus-function element within the meaning of 35 U.S.C. § 112(f)unless an element is expressly recited using the phrase “means for,” orin the case of a method claim using the phrases “operation for” or “stepfor.”

The foregoing description has been provided for purposes of illustrationand description. It is not intended to be exhaustive or to limit thedisclosure. Individual elements or features of a particular example aregenerally not limited to that particular example, but, where applicable,are interchangeable and can be used in a selected example, even if notspecifically shown or described. The same may also be varied in manyways. Such variations are not to be regarded as a departure from thedisclosure, and all such modifications are intended to be includedwithin the scope of the disclosure.

What is claimed is:
 1. A method comprising: generating a beacon signalat a first radio of a group of radios, said beacon signal comprisinggroup beacon data, said group of radios comprising a plurality of nodesincluding an unassociated node, each node comprising a timeslot nodeidentifier corresponding to one of the group of radios or is availablefor the unassociated node; transmitting the beacon signal from the firstradio during a beacon pipe of a timeslot of a frame, said framecomprising a plurality of timeslots having a first timeslot, each of theplurality of timeslots of the frame comprising a slow pipe, a fast pipeand the beacon pipe, said slow pipe being dedicated to one node of theplurality of nodes in the group of radios, said fast pipe comprising aplurality of slices, each of the plurality of nodes corresponding to arespective one of the plurality of slices; receiving the beacon signalat a second radio outside the group of radios; identifying a firsttimeslot node identifier for the unassociated node based on the groupbeacon data at the second radio; assigning to the second radio, by thefirst radio, the first timeslot node identifier of the unassociated nodeto form a first node corresponding to the first timeslot communicatingslow pipe data from the second radio to the group of radios during theslow pipe of the first timeslot; and communicating first fast pipe datafrom the first radio to the group of radios and second fast pipe dataduring different slices of the plurality of slices of the fast pipe ofthe first timeslot.
 2. The method as recited in claim 1 furthercomprising communicating an acknowledgement signal from the first radioto the second radio in response to assigning.
 3. The method as recitedin claim 2 wherein communicating the acknowledgement signal comprisescommunicating the acknowledgement signal when the first node isavailable.
 4. The method as recited in claim 1 further comprising, whenthe first node is not reachable by a second node, relaying data betweenthe first node and the second node through a third node.
 5. The methodas recited in claim 1 wherein the beacon pipe and a first slice of theplurality of slices of the fast pipe of the timeslot is dedicated to thefirst radio.
 6. The method as recited in claim 1 wherein the beacon pipeis dedicated to the first radio and the slow pipe of one of theplurality of timeslots corresponds to the first radio.
 7. The method asrecited in claim 1 further comprising broadcasting a data signal fromthe second radio during the slow pipe of the first timeslotcorresponding to the first node and a slice of the fast pipe of thefirst timeslot.
 8. The method as recited in claim 1 further comprisinggenerating updated group beacon data at the first radio andcommunicating the updated group beacon data during the beacon pipe. 9.The method as recited in claim 1 wherein prior to transmitting thebeacon signal, scanning for group identifiers from nearby groups. 10.The method as recited in claim 1 wherein generating the beacon signalcomprises generating the beacon signal comprising a group identifier,group size and a first position signal of the first radio.
 11. Themethod as recited in claim 1 wherein generating the beacon signalcomprises generating the beacon signal comprising the group beacon datacomprising a group identifier, group size and timeslot usage data. 12.The method as recited in claim 1 further comprising leaving the group ofradios from the first radio and, in response thereto, continuing thegroup by the group of radios less the first radio.
 13. The method asrecited in claim 1 further comprising transmitting data or a placeholderfrom each node of the plurality of nodes for each timeslot of theplurality of timeslots.
 14. The method as recited in claim 1 wherein thebeacon signal is generated from all of the group of radios.
 15. A systemcomprising: a group of radios comprising a plurality of nodes, each nodecorresponding to one of the group of radios including an unassociatednode, each node comprising a timeslot node identifier corresponding toone of the group of radios or is available for the unassociated node; afirst radio configured to generate a beacon signal, said beacon signalcomprising group beacon data for the group of radios and the firstradio; said first radio configured to transmit the beacon signal duringa beacon pipe of a timeslot of a frame, said frame comprising aplurality of timeslots comprising a first timeslot, each of theplurality of timeslots of the frame comprise a slow pipe, a fast pipeand the beacon pipe, said slow pipe is dedicated to one node of theplurality of nodes in the group of radios, said fast pipe comprises aplurality of slices, each of the plurality of nodes corresponds to arespective one of the plurality of slices; a second radio outside thegroup of radios configured to receive the beacon signal, and configuredto identify a first timeslot node identifier for the unassociated nodebased on the group beacon data; said first radio configured to assignthe second radio the first node identifier of the unassociated node toform a first node corresponding to the first timeslot said second radioconfigured to communicate slow pipe data from the second radio to thegroup of radios during the slow pipe of the first timeslot; said firstradio configured to communicate first fast pipe data to the group ofradios during a first slice of the plurality of slices of the fast pipeof the first timeslot; and said second radio configured to communicatesecond fast pipe data to the group of radios during a second slice ofthe plurality of slices of the fast pipe of the first timeslot.
 16. Thesystem as recited in claim 15 wherein the first radio is configured tocommunicate an acknowledgement signal to the second radio in response toassigning.
 17. The system as recited in claim 16 wherein the first radiois configured to communicate the acknowledgement signal when the firstnode is available.
 18. The system as recited in claim 15 wherein thebeacon pipe and one slice of the fast pipe of the timeslot is dedicatedto the first radio.
 19. The system as recited in claim 15 wherein thebeacon pipe is dedicated to the first radio and the slow pipe of one ofthe plurality of timeslots corresponds to the first radio.
 20. Thesystem as recited in claim 15 wherein the second radio is configured tobroadcast a data signal from the second radio during the slow pipe ofthe first timeslot corresponding to the first node and a slice of theplurality of slices of the fast pipe of the first timeslot.
 21. Thesystem as recited in claim 15 wherein when the first node is notreachable by a second node, a third node relaying data between the firstnode and the second node.
 22. The system as recited in claim 15 whereinthe first radio is configured to generate updated group beacon data andconfigured to communicate the updated group beacon data during thebeacon pipe.
 23. The system as recited in claim 15 wherein the firstradio is configured to scan for group identifiers from nearby groupsprior to transmitting the beacon signal.
 24. The system as recited inclaim 15 wherein the group beacon data comprises a group identifier,group size and a first position signal of the first radio.
 25. Thesystem as recited in claim 15 wherein the group beacon data comprising agroup identifier, group size and timeslot usage data.
 26. The system asrecited in claim 15 wherein the group of radios is continued when thefirst radio leaves the group of radios.
 27. The system as recited inclaim 15 wherein each node of the plurality of nodes is configured totransmit data or a placeholder for each timeslot of the plurality oftimeslots.
 28. The system of claim 15 wherein all of the group of radiosare configured to generate the beacon signal.
 29. The system of claim 15wherein the second radio is configured to select the first timeslot, bylistening to a selected timeslot and when another radio communicateswithin the selected timeslot, the second radio is configured to selectthe first timeslot.
 30. The system of claim 15 wherein the second radiois configured to generate a first communication signal, said firstcommunication signal comprising a first radio identifier and firstposition data; said first radio receiving the first communicationsignal, determining second position data of the first radio andcomparing the first position data and the second position data to obtaina distance; and said first radio or said second radio broadcasting asecond radio identifier and the first position data to the group ofradios when the distance is within a predetermined distance in responseto comparing.
 31. The system of claim 15 wherein the first radiogenerates a first communication signal for the second radio andcommunicates the first communication signal through the first radio; andsaid first radio communicates the first communication signal though acellular system to the second radio when a response signal is notreceived from the second radio.
 32. The system of claim 15 wherein thefirst radio of a vehicle generating a first communication signal; saidfirst radio attempting to communicate the first communication signalthrough a first communication system other than a vehicle-to-vehicleradio (V2V); and said first radio, when an acknowledgement signal is notreceived, communicating the first communication signal though thevehicle-to-vehicle radio (V2V) to a second vehicle radio.
 33. A methodcomprising: generating a beacon signal at a first radio of a group ofradios, said beacon signal comprising group beacon data, said group ofradios comprising a plurality of nodes, each node corresponding to oneof the group of radios; transmitting the beacon signal from the firstradio during a beacon pipe of a frame, said frame comprising a pluralityof timeslots, each of the plurality of timeslots comprise a slow pipe, afast pipe and a beacon pipe, said slow pipe being dedicated to one nodeof the plurality of nodes in the group, said fast pipe having aplurality of slices, each of the plurality of nodes corresponding to arespective one of the plurality of slices; receiving the beacon signalat a second radio outside the group; identifying a first timeslot nodeidentifier based on the group beacon data; assigning the first nodeidentifier to the second radio corresponding to the first timeslot ofthe plurality of timeslots; and communicating data from the second radioto the group during the first timeslot.
 34. The method of claim 33wherein communicating data comprises: communicating slow pipe data fromthe second radio to the group of radios during the slow pipe of thefirst timeslot; and communicating first fast pipe data from the firstradio to the group of radios and second fast pipe data during differentslices of the plurality of slices of the fast pipe of the firsttimeslot.